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Merge pull request #152 from ev3dev/feature-new-tacho-driver-attributes
Changes to support new tacho driver updates
2 parents 13df9c6 + 9c9e8d7 commit 20d4401

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‎spec.json

Lines changed: 86 additions & 46 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,14 @@
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{
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"meta": {
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"version": "1.0.0",
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"supportedKernel": "v3.16.7-ckt21-9-ev3dev"
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"version": "1.1.0",
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"specRevision": 0,
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"supportedKernel": {
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"pattern": "{upstream_version}-{kernel}-{flavour}",
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"kernels": [
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"10-ev3dev",
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"10-rc1-ev3dev"
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]
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}
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},
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"classes": {
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"motor": {
@@ -19,7 +26,7 @@
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],
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"docsLink": "http://www.ev3dev.org/docs/drivers/tacho-motor-class/",
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"systemClassName": "tacho-motor",
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"systemDeviceNameConvention": "motor{0}",
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"systemDeviceNameConvention": "*",
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"systemProperties": [
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{ "name": "Address", "systemName": "address", "type": "string", "readAccess": true, "writeAccess": false,
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"description": [
@@ -59,8 +66,14 @@
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"description": [
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"Returns the number of tacho counts in one rotation of the motor. Tacho counts",
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"are used by the position and speed attributes, so you can use this value",
62-
"to convert rotations or degrees to tacho counts. In the case of linear",
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"actuators, the units here will be counts per centimeter."
69+
"to convert rotations or degrees to tacho counts. (rotation motors only)"
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]
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},
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{ "name": "Count Per M", "systemName": "count_per_m", "type": "int", "readAccess": true, "writeAccess": false,
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"description": [
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"Returns the number of tacho counts in one meter of travel of the motor. Tacho",
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"counts are used by the position and speed attributes, so you can use this",
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"value to convert from distance to tacho counts. (linear motors only)"
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]
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},
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{ "name": "Driver Name", "systemName": "driver_name", "type": "string", "readAccess": true, "writeAccess": false,
@@ -78,8 +91,7 @@
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"description": [
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"Writing sets the duty cycle setpoint. Reading returns the current value.",
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"Units are in percent. Valid values are -100 to 100. A negative value causes",
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"the motor to rotate in reverse. This value is only used when `speed_regulation`",
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"is off."
94+
"the motor to rotate in reverse."
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]
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},
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{ "name": "Encoder Polarity", "systemName": "encoder_polarity", "type": "string", "readAccess": true, "writeAccess": true,
@@ -91,6 +103,13 @@
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"`inversed`."
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]
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},
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{ "name": "Full Travel Count", "systemName": "full_travel_count", "type": "int", "readAccess": true, "writeAccess": false,
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"description": [
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"Returns the number of tacho counts in the full travel of the motor. When",
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"combined with the `count_per_m` atribute, you can use this value to",
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"calculate the maximum travel distance of the motor. (linear motors only)"
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]
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},
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{ "name": "Polarity", "systemName": "polarity", "type": "string", "readAccess": true, "writeAccess": true,
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"description": [
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"Sets the polarity of the motor. With `normal` polarity, a positive duty",
@@ -130,6 +149,13 @@
130149
"rotations or degrees."
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]
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},
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{ "name": "Max Speed", "systemName": "max_speed", "type": "int", "readAccess": true, "writeAccess": false,
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"description": [
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"Returns the maximum value that is accepted by the `speed_sp` attribute. This",
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"may be slightly different than the maximum speed that a particular motor can",
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"reach - it's the maximum theoretical speed."
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]
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},
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{ "name": "Speed", "systemName": "speed", "type": "int", "readAccess": true, "writeAccess": false,
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"description": [
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"Returns the current motor speed in tacho counts per second. Note, this is",
@@ -139,49 +165,43 @@
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},
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{ "name": "Speed SP", "systemName": "speed_sp", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
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"Writing sets the target speed in tacho counts per second used when `speed_regulation`",
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"is on. Reading returns the current value. Use the `count_per_rot` attribute",
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"to convert RPM or deg/sec to tacho counts per second."
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"Writing sets the target speed in tacho counts per second used for all `run-*`",
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"commands except `run-direct`. Reading returns the current value. A negative",
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"value causes the motor to rotate in reverse with the exception of `run-to-*-pos`",
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"commands where the sign is ignored. Use the `count_per_rot` attribute to convert",
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"RPM or deg/sec to tacho counts per second. Use the `count_per_m` attribute to",
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"convert m/s to tacho counts per second."
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]
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},
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{ "name": "Ramp Up SP", "systemName": "ramp_up_sp", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
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"Writing sets the ramp up setpoint. Reading returns the current value. Units",
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"are in milliseconds. When set to a value > 0, the motor will ramp the power",
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"sent to the motor from 0 to 100% duty cycle over the span of this setpoint",
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"when starting the motor. If the maximum duty cycle is limited by `duty_cycle_sp`",
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"or speed regulation, the actual ramp time duration will be less than the setpoint."
179+
"are in milliseconds and must be positive. When set to a non-zero value, the",
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"motor speed will increase from 0 to 100% of `max_speed` over the span of this",
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"setpoint. The actual ramp time is the ratio of the difference between the",
182+
"`speed_sp` and the current `speed` and max_speed multiplied by `ramp_up_sp`."
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]
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},
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{ "name": "Ramp Down SP", "systemName": "ramp_down_sp", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
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"Writing sets the ramp down setpoint. Reading returns the current value. Units",
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"are in milliseconds. When set to a value > 0, the motor will ramp the power",
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"sent to the motor from 100% duty cycle down to 0 over the span of this setpoint",
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"when stopping the motor. If the starting duty cycle is less than 100%, the",
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"ramp time duration will be less than the full span of the setpoint."
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]
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},
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{ "name": "Speed Regulation Enabled", "systemName": "speed_regulation", "type": "string", "readAccess": true, "writeAccess": true,
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"description": [
167-
"Turns speed regulation on or off. If speed regulation is on, the motor",
168-
"controller will vary the power supplied to the motor to try to maintain the",
169-
"speed specified in `speed_sp`. If speed regulation is off, the controller",
170-
"will use the power specified in `duty_cycle_sp`. Valid values are `on` and",
171-
"`off`."
188+
"are in milliseconds and must be positive. When set to a non-zero value, the",
189+
"motor speed will decrease from 0 to 100% of `max_speed` over the span of this",
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"setpoint. The actual ramp time is the ratio of the difference between the",
191+
"`speed_sp` and the current `speed` and max_speed multiplied by `ramp_down_sp`."
172192
]
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},
174-
{ "name": "Speed Regulation P", "systemName": "speed_pid/Kp", "type": "int", "readAccess": true, "writeAccess": true,
194+
{ "name": "Speed P", "systemName": "speed_pid/Kp", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
176196
"The proportional constant for the speed regulation PID."
177197
]
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},
179-
{ "name": "Speed Regulation I", "systemName": "speed_pid/Ki", "type": "int", "readAccess": true, "writeAccess": true,
199+
{ "name": "Speed I", "systemName": "speed_pid/Ki", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
181201
"The integral constant for the speed regulation PID."
182202
]
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},
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{ "name": "Speed Regulation D", "systemName": "speed_pid/Kd", "type": "int", "readAccess": true, "writeAccess": true,
204+
{ "name": "Speed D", "systemName": "speed_pid/Kd", "type": "int", "readAccess": true, "writeAccess": true,
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"description": [
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"The derivative constant for the speed regulation PID."
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]
@@ -304,22 +324,6 @@
304324
}
305325
]
306326
},
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{
308-
"propertyName": "Speed Regulation",
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"values": [
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{ "name": "on",
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"description": [
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"The motor controller will vary the power supplied to the motor",
313-
"to try to maintain the speed specified in `speed_sp`."
314-
]
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},
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{ "name": "off",
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"description": [
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"The motor controller will use the power specified in `duty_cycle_sp`."
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]
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}
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]
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},
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{
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"propertyName": "Stop Command",
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"values": [
@@ -349,6 +353,7 @@
349353
},
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"largeMotor": {
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"friendlyName": "Large Motor",
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"systemDeviceNameConvention": "*",
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"description": [
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"EV3 large servo motor"
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],
@@ -359,6 +364,7 @@
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},
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"mediumMotor": {
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"friendlyName": "Medium Motor",
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"systemDeviceNameConvention": "*",
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"description": [
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"EV3 medium servo motor"
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],
@@ -367,6 +373,39 @@
367373
],
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"inheritance": "motor"
369375
},
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"nxtMotor": {
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"friendlyName": "NXT Motor",
378+
"systemDeviceNameConvention": "*",
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"description": [
380+
"NXT servo motor"
381+
],
382+
"driverName": [
383+
"lego-nxt-motor"
384+
],
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"inheritance": "motor"
386+
},
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"firgelli50Motor": {
388+
"friendlyName": "Firgelli L12 50 Motor",
389+
"systemDeviceNameConvention": "linear{0}",
390+
"description": [
391+
"Firgelli L12 50 linear servo motor"
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],
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"driverName": [
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"fi-l12-ev3-50"
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],
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"inheritance": "motor"
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},
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"firgelli100Motor": {
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"friendlyName": "Firgelli L12 100 Motor",
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"systemDeviceNameConvention": "linear{0}",
401+
"description": [
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"Firgelli L12 100 linear servo motor"
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],
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"driverName": [
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"fi-l12-ev3-100"
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],
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"inheritance": "motor"
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},
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"dcMotor": {
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"friendlyName": "DC Motor",
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"description": [
@@ -1449,3 +1488,4 @@
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}
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}
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}
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